ROS基础——命令

Usage:

• rospack find [package]
• roscd [package[/subdir]]
• rosls [package[/subdir]]
• roscreate-pkg [package name]
• rosmake [package]
• rosdep install [package]
• roswtf or roswtf [file]
• rxdeps [options]

A collection of nodes and programs that are pre-requisites of a ROS-based system. You must have a roscore running in order for ROS nodes to communicate.

roscore is currently defi ned as:

• master
• parameter server
• rosout

Usage:

• roscore

rosmsg/rossrv displays Message/Service (msg/srv) data structure defi nitions.

Examples:

# Display the Pose msg rosmsg show Pose  # List the messages in nav_msgs rosmsg package nav_msgs  # List the files using sensor_msgs/CameraInfo rosmsg users sensor_msgs/CameraInfo 

rosrun allows you to run an executable in an arbitrary package without having to cd (or roscd) there fi rst.

Usage:

rosrun package executable 

Example:

# Run turtlesim rosrun turtlesim turtlesim_node 

Displays debugging information about ROS nodes, including publications, subscriptions and connections.

Examples:

# Kill all nodes rosnode kill -a # List nodes on a machine rosnode machine aqy.local # Ping all nodes rosnode ping --all 

Starts ROS nodes locally and remotely via SSH, as well as setting parameters on the parameter server.

Examples:

      
       # Launch on a different port
roslaunch -p 
       1234 package filename.launch

       # Launch a file in a package
roslaunch package filename.launch

       # Launch on the local nodes
roslaunch --local package filename.launch

      

A tool for displaying debug information about ROS topics, including publishers, subscribers, publishing rate, and messages.

Examples:

# Publish hello at 10 Hz
rostopic pub -r 10 /topic_name std msgs/String hello
# Clear the screen after each message is published
rostopic echo -c /topic_name
# Display messages that match a given Python expression
rostopic echo --filter "m.data=='foo'" /topic_name
# Pipe the output of rostopic to rosmsg to view the msg type
rostopic type /topic_name | rosmsg show

A tool for getting and setting ROS parameters on the parameter server using YAML-encoded files.

Examples:

# List all the parameters in a namespace
rosparam list /namespace
# Setting a list with one as a string, integer, and float
rosparam set /foo "['1', 1, 1.0]"
# Dump only the parameters in a specific namespace to file
rosparam dump dump.yaml /namespace

A tool for listing and querying ROS services.

Examples:

# Call a service from the command-line
rosservice call /add_two_ints 1 2
# Pipe the output of rosservice to rossrv to view the srv type
rosservice type add_two_ints | rossrv show
# Display all services of a particular type
rosservice find rospy_tutorials/AddTwoInts

This is a set of tools for recording from and playing back to ROS topics. It is intended to be high performance and avoids deserialization and reserializationof the messages.

rosbag record will generate a “.bag” fi le (so named for historical reasons) with the contents of all topics that you pass to it.

Examples:

# Record all topics
rosbag record -a
# Record select topics
rosbag record topic1 topic2

rosbag play will take the contents of one or more bag file, and play them back in a time-synchronized fashion.

Examples:

# Replay all messages without waiting
rosbag play -a demo log.bag
# Replay several bag files at once
rosbag play demo1.bag demo2.bag

A tool that prints the information about a particular transformation between a source frame and a target frame.

Usage:

rosrun tf tf echo <source_frame> <target_frame>

Examples:

# To echo the transform between /map and /odom:
rosrun tf tf echo /map /odom

A tool for visualizing the full tree of coordinate transforms.

Usage:

rosrun tf view_frames
evince frames.pdf